A new decoupling matrix construction method for fault detection and isolation of a redundant strapdown inertial measurement unit

The study proposed selecting the maximum linearly independent systems of the orthogonal projection array to solve the decoupling matrix. The improved GLT method has a commensurate effect of detecting the faults of the conventional configuration of RSIMUs using the existing method; the new decoupling matrix does not reduce the performance of the latter. The parity space approach uses the decoupling matrix to map the redundant values measured and then compares residual error with threshold value. The probability of correct isolation of faults of the configuration of two strapdown inertial measurement units is rather low because the special configuration cannot locate their faults.